３次元２リンクフレキシブルロボットアームの姿勢変化を考慮した運動と振動のH∞ロバストサーボ制御

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This paper presents a design procedure of robust H∞ controller for bending-torsional vibration of three dimensional two link flexible robot arm. As the posture of the arm and the payload varies according to tasks, it possesses uncertain vibration modes. The controller must be designed to be robust to such posture fluctuation. In this research, H∞ robust control design with structured uncertainties is utilized to describe the model error in bending-torsional vibration. An experimental system is set up, and two physical models are identified by utilizing Seto's modeling method. A H∞ controller is designed by using these models and an integrator to realize servo control for positioning. Control simulations and experiments are performed. According to these results, the presented modeling and controller design method is certified to be effective.